Intelligent vehicle trajectory tracking control system and method based on interval type-2 fuzzy logic

Abstract

An intelligent vehicle trajectory tracking control system based on interval type-2 fuzzy logic comprises a vehicle vision sensor unit, a course deviation calculation unit, a transverse deviation calculation unit, an interval type-2 fuzzy logic vehicle trajectory tracking controller, a vehicle control unit VCU and a vehicle steering control unit. The vehicle vision sensor unit transmits shot road surface images to the course deviation calculation unit and the transverse deviation calculation unit respectively, and the course deviation calculation unit and the transverse deviation calculation unit calculate the course deviation epsilon L and the transverse deviation y L of a vehicle respectively; the interval type-2 fuzzy logic vehicle trajectory tracking controller calculates a steering angle through four steps of fuzzification, fuzzy reasoning, fuzzy shape reduction and defuzzification based on interval type-2 fuzzy logic, and a vehicle control unit (VCU) controls a vehicle steering control unit to work according to the steering angle. The invention provides an intelligent vehicle trajectory tracking control system and method based on interval type-2 fuzzy logic. The stability of intelligent vehicle trajectory tracking control precision is improved.

Description

technical field [0001] The invention belongs to the technical field of trajectory tracking control of unmanned vehicles, and in particular relates to an intelligent vehicle trajectory tracking control system and method of interval type II fuzzy logic. Background technique [0002] With the development and upgrading of intelligent technology, intelligent car driverless technology has great development prospects due to its high active safety performance and the ability to improve road traffic efficiency. The trajectory tracking control of smart cars is one of the key technologies to realize autonomous driving technology. The trajectory tracking control of the vehicle is defined as selecting a point on the vehicle as a control point to track a trajectory with time attributes, that is, allowing the control point to track the moving target trajectory point corresponding to the desired trajectory at a given time. The control algorithms applied to trajectory tracking control in mo...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problem of large trajectory tracking errors caused by external disturbances such as different vehicle speeds, uncertainty in the road adhesion coefficient, and sudden changes in road surface curvature when the trajectory tracking control of vehicles is based on traditional type I fuzzy logic, the present invention provides an interval type II fuzzy logic control system. Logical intelligent vehicle trajectory tracking control system and method, improving the stability of intelligent vehicle trajectory tracking control accuracy

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